Assembly Language Programming: Difference between revisions

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*[https://code.google.com/p/osx-launchpad/ OS X Native Toolchain Installer] (You may prefer the Code Composer Studio Beta linked above.)
*[https://code.google.com/p/osx-launchpad/ OS X Native Toolchain Installer] (You may prefer the Code Composer Studio Beta linked above.)
=====MSP430 Assembly using the TI Assembler=====
=====MSP430 Assembly using the TI Assembler=====
*[http://www.ti.com/lit/ug/slau131i/slau131i.pdf Assembly Language Tools] This manual also has some good data on the linker, including the section "Using Linker Symbols in C/C++ Applications".
*[http://www.ti.com/lit/pdf/slau131 Assembly Language Tools] This manual also has some good data on the linker, including the section "Using Linker Symbols in C/C++ Applications".
*[https://students.cs.byu.edu/~cs224ta/references/Code%20Composer%20Studio/asm/MSP430%20Assember%20Directives.pdf Assembler Directives]
*[https://students.cs.byu.edu/~cs224ta/references/Code%20Composer%20Studio/asm/MSP430%20Assember%20Directives.pdf Assembler Directives]

=====MSP430 TI C Compiler=====
=====MSP430 TI C Compiler=====
*[http://www.ti.com/lit/ug/slau132j/slau132j.pdf MSP430 Optimizing C/C++ Compiler] (See Section 6.5 and following for how to mix C/C++ and Assembly. It is really best to read the entire chapter though, as it is all pertinent to mixing C and Assembly. It will also help you if you want to program in C, as it tells how the C compiler uses the memory, the stack, the registers, etc., and once you understand the processor as you learn to do when you learn its assembly language, it is very interesting to see how that all works in C.)
*[http://www.ti.com/lit/ug/slau132j/slau132j.pdf MSP430 Optimizing C/C++ Compiler] (See Section 6.5 and following for how to mix C/C++ and Assembly. It is really best to read the entire chapter though, as it is all pertinent to mixing C and Assembly. It will also help you if you want to program in C, as it tells how the C compiler uses the memory, the stack, the registers, etc., and once you understand the processor as you learn to do when you learn its assembly language, it is very interesting to see how that all works in C.)
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=====Translating Embedded Code Between Assembly and C=====
=====Translating Embedded Code Between Assembly and C=====
When reading C code to understand what you wish to do in Assembly, or vice versa, it is handy to understand some common statements you see in C. Listed below are the most commonly seen ones.
When reading C code to understand what you wish to do in Assembly, or vice versa, it is handy to understand some common statements you see in C. Listed below are the most commonly seen ones.
<nowiki>
* P1DIR |= #BIT0; //is the same as bis.b #BIT0, &P1DIR
* P1DIR &= ~#BIT0; //is the same as bic.b #BIT0, &P1DIR
P1DIR |= #BIT0; //is the same as bis.b #BIT0, &P1DIR
* P1DIR ^= #BIT0 //is the same as xor.b #BIT0, &P1DIR
P1DIR &= ~#BIT0; //is the same as bic.b #BIT0, &P1DIR
P1DIR ^= #BIT0; //is the same as xor.b #BIT0, &P1DIR</nowiki>


===MSP430F5529 Specific Data===
===MSP430F5529 Specific Data===
*[http://www.ti.com/lit/ug/slau208o/slau208o.pdf MSP430x5xx and MSP430x6xx Family User's Guide] This is the most important reference for the MSP430F5529. Read it carefully (as a reference).
*[http://www.ti.com/lit/pdf/SLAU208 MSP430x5xx and MSP430x6xx Family User's Guide] This is the most important reference for the MSP430F5529. Read it carefully (as a reference).
*[http://www.ti.com/lit/ds/symlink/msp430f5529.pdf MSP430F5529 Data Sheet]
*[http://www.ti.com/lit/ds/symlink/msp430f5529.pdf MSP430F5529 Data Sheet]
*[http://www.ti.com/product/msp430f5529 TI web page on the MSP430F5529]
*[http://www.ti.com/product/msp430f5529 TI web page on the MSP430F5529]
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***The PMM ([https://focus.ti.com/en/download/mcu/Understanding-the-New-'5xx-Integrated-Power-Management-Modul.pdf Power Management Module]), particualarly the Digitally Controlled Oscillator (DCO) and Frequency Locked Loop (FLL) of the clock system is significantly different.
***The PMM ([https://focus.ti.com/en/download/mcu/Understanding-the-New-'5xx-Integrated-Power-Management-Modul.pdf Power Management Module]), particualarly the Digitally Controlled Oscillator (DCO) and Frequency Locked Loop (FLL) of the clock system is significantly different.
***The USCI (UART, SPI and I2C serial communications) Interrupts have been consolidated. For example see section 39.3.15 of the [http://www.ti.com/lit/ug/slau208o/slau208o.pdf MSP430x5xx and MSP430x6xx Family User's Guide].
***The USCI (UART, SPI and I2C serial communications) Interrupts have been consolidated. For example see section 39.3.15 of the [http://www.ti.com/lit/ug/slau208o/slau208o.pdf MSP430x5xx and MSP430x6xx Family User's Guide].
***The MSP430F5529 has more than 128K of memory. The normal 16 bits will only allow accessing the first 64K. To access the rest it uses 20 bits. This is enabled with the [http://www.ti.com/lit/ml/slap109/slap109.pdf Extended Instructions] like MOVX.W. For class, we can get by with the lower 64K just fine and can ignore these extended instructions, however, good programming practice calls for using CALLA, RETA, and BRA instead of CALL, RET, and BR. If you want to use the rest of the memory sometime, look into [http://www.ti.com/lit/ml/slap109/slap109.pdf this].
***The MSP430F5529 has more than 128K of memory. The normal 16 bits will only allow accessing the first 64K. To access the rest it uses 20 bits. This is enabled with the [http://www.ti.com/lit/ml/slap109/slap109.pdf Extended Instructions] like MOVX.W. For class, we can get by with the lower 64K just fine and can ignore these extended instructions, however, good programming practice calls for using CALLA, RETA, and BRA instead of CALL, RET, and BR. If you want to use the rest of the memory sometime, look into [http://www.ti.com/lit/ml/slap109/slap109.pdf this]. If you want C you compile to make assembly without using the extended instructions using CCSv6, tell it to use the msp instructions instead of mspx in the Build->MSP430 Compiler->Processor Options.
*[http://embedded.fm/blog/ese101-assembly-language-playground How to set up an assembly project in Code Composer Studio]


===Launchpad Evaluation Board Data===
===Launchpad Evaluation Board Data===
*[http://www.ti.com/tool/msp-exp430f5529lp MSP430F5529LP LaunchPad Evaluation Kit Resource Page]
*[http://www.ti.com/tool/msp-exp430f5529lp MSP430F5529LP LaunchPad Evaluation Kit Resource Page]
**[http://processors.wiki.ti.com/index.php/MSP430F5529_LaunchPad TI MSP430F5529 Launchpad Wiki Page] This page has the nice pin out card that came with your Launchpad.
**[http://processors.wiki.ti.com/index.php/MSP430F5529_LaunchPad TI MSP430F5529 Launchpad Wiki Page] This page has the nice pin out card that came with your Launchpad.
[[Image:EXP430PinOut.png
[[Image:EXP430PinOut.png|800px]]
|thumb ]]
**[http://www.ti.com/lit/pdf/slau533 MSP-EXP430F5529 Launchpad Development Kit User's Guide]
**[http://www.ti.com/lit/pdf/slau533 MSP-EXP430F5529 Launchpad Development Kit User's Guide]
**[https://roboticsclub.org/redmine/projects/infotron/wiki/ProgramMSP430 Infotron Tutorials on Programming the MSP430 LaunchPads]
**[https://roboticsclub.org/redmine/projects/infotron/wiki/ProgramMSP430 Infotron Tutorials on Programming the MSP430 LaunchPads]
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*[[MSP430 C Code Examples from Class]]
*[[MSP430 C Code Examples from Class]]
*[[MSP430 Assembly Code Examples from Class]]
*[[MSP430 Assembly Code Examples from Class]]
===Slides 2015===
===Slides and Videos 2015 and 2016===
These slides were modified from [https://students.cs.byu.edu/~clement/cs224/ Mark Clement's work] at BYU.
These slides were modified from [https://students.cs.byu.edu/~clement/cs224/ Mark Clement's work] at BYU. The slides are the major categories, and the videos explaining the slides are the sub-categories.
*[https://docs.google.com/presentation/d/1ZAJa7nfYve2G3PFH1gkVn37F2I9NFj1neebtDwEIcWw/edit?usp=sharing Digital Logic]
*[https://docs.google.com/presentation/d/1ZAJa7nfYve2G3PFH1gkVn37F2I9NFj1neebtDwEIcWw/edit?usp=sharing Digital Logic]
**[https://www.youtube.com/watch?v=6zYMtpc19To Arithmetic and Logical Operations]
**[https://www.youtube.com/watch?v=RXFzZrLW7gU Transistors Make a Digital Gate]
**[https://www.youtube.com/watch?v=3qMrlef2B5M Translating Between Truth Tables, Logic Diagrams and Boolean Equations]
**[https://www.youtube.com/watch?v=SEVz5cJGEco Commonly Used Combinational Logic]
**[https://www.youtube.com/watch?v=pED3BPH48po Logical Completeness]
**[https://www.youtube.com/watch?v=wbJ6C1VYI6M Sequential Logic, Latches, Registers and Memory]
**[https://www.youtube.com/watch?v=w7WIljwihx0 Finite State Machines]
**[https://www.youtube.com/watch?v=_3X_fY8U9ps Finite State Machine Examples]
**[https://www.youtube.com/watch?v=820Lzv-YbIo Finite State Machine Design]
*[https://docs.google.com/presentation/d/1PHnaBUnKk8dyQxim5enwB9Gp5cNodBPDUHgdSL3cCZs/edit?usp=sharing Data Types]
*[https://docs.google.com/presentation/d/1PHnaBUnKk8dyQxim5enwB9Gp5cNodBPDUHgdSL3cCZs/edit?usp=sharing Data Types]
**[https://www.youtube.com/watch?v=oGCLHiuqCC8 Introduction to Data Types]
**[https://www.youtube.com/watch?v=z4LZK9F9vdQ Integer Data Types]
**[https://www.youtube.com/watch?v=a-lMQqACe7s Two's Complement Operations]
**[https://www.youtube.com/watch?v=1LY0XL_aBMk More Two's Compliment]
**[https://www.youtube.com/watch?v=lv3AUV4DPks Floating Point Numbers]
**[https://www.youtube.com/watch?v=g_Zaj08C6_k More Floating Point Numbers]
**[https://www.youtube.com/watch?v=mb5_tWNLvgo MSP430 Variable Types]
**[https://www.youtube.com/watch?v=1noa649ZrCo MSP430 Data Types With Code Composer Studio]
*[https://docs.google.com/presentation/d/1kQtUpDR6W9vrX_ynbJBkqr3YDJ8Of2p3v8rZ__KBOT0/edit?usp=sharing Instruction Set Archatecture]
*[https://docs.google.com/presentation/d/1kQtUpDR6W9vrX_ynbJBkqr3YDJ8Of2p3v8rZ__KBOT0/edit?usp=sharing Instruction Set Archatecture]
**[https://www.youtube.com/watch?v=KOyMWYE37tQ Introduction to the MSP430 Instruction Set Architecture]
**[https://www.youtube.com/watch?v=cfr9megyJbc MSP430 Assembly Language Primer]
**[https://www.youtube.com/watch?v=DuFMeuq7TrE MSP430 Addressing Modes]
**[https://www.youtube.com/watch?v=rs-1BBB7bgw MSP430 Source Addressing Modes]
**[https://www.youtube.com/watch?v=OASKoYCmt4s What Happens When Using Different MSP430 Addressing Modes?]
**[https://www.youtube.com/watch?v=caVzQHtRTJU Processor Speed and Addressing]
**[https://www.youtube.com/watch?v=eAmSnTxQscE MSP430 Dissassembly]
**[https://youtu.be/BX1yrDql0dc How Addressing Modes and Data Types Work Seen With Code Composer Studio]
*[https://docs.google.com/presentation/d/1ACTf-Zq4V4bnyx_LhH-8teLWX5rASnwA0cyXgWmNdps/edit?usp=sharing Assembler & Linker]
*[https://docs.google.com/presentation/d/1ACTf-Zq4V4bnyx_LhH-8teLWX5rASnwA0cyXgWmNdps/edit?usp=sharing Assembler & Linker]
**[https://www.youtube.com/watch?v=d39hR-8EdZw MSP430 Assembly Instructions]
**[https://www.youtube.com/watch?v=v4PxLGp-M_4 The MSP430 Assembler]
**[https://www.youtube.com/watch?v=krFlLSrhlMM MSP430 Assembler Sections]
**[https://www.youtube.com/watch?v=7BJx3Q_KBEs How to Code in MSP430 Assembly Language]
**[https://www.youtube.com/watch?v=Hre8Hi0CdEA Systematic Decomposition]
*[https://docs.google.com/presentation/d/1MJHG2y6pGId_p6oXRMH5MDT7R-f97edcsF-gNZcIY8s/edit?usp=sharing General Purpose I/O]
*[https://docs.google.com/presentation/d/1MJHG2y6pGId_p6oXRMH5MDT7R-f97edcsF-gNZcIY8s/edit?usp=sharing General Purpose I/O]
**[https://www.youtube.com/watch?v=nGOVhMgBndM MSP430 General Purpose I/O]
*[https://docs.google.com/presentation/d/1gIL60nq5ki-ELgj_g58eumiSWD0NZoCbvKA08YZgBC8/edit?usp=sharing Stacks, Interrupts, Clocks, Timers, and PWM]
**[https://youtu.be/xXmmvBfy_5Q Using Code Composer Studio to Program in Assembler the MSP430F5529 Launchpad to Blink]
*[https://docs.google.com/presentation/d/1gIL60nq5ki-ELgj_g58eumiSWD0NZoCbvKA08YZgBC8/edit?usp=sharing Stacks]
**[https://www.youtube.com/watch?v=6DNFKqPSpLM Introduction to Stacks]
**[https://www.youtube.com/watch?v=pMBFTw6ykKs MSP430 Subroutines]
**[https://www.youtube.com/watch?v=ucmj2-HzF08 Caller Versus Callee Save]
**[https://www.youtube.com/watch?v=3P905zl9ts4 MSP430 Subroutine Activation Records]
*[https://docs.google.com/presentation/d/12X0BrSMwMd0NYRTiNjDM53-rXRalb3xAW5FGTZcUaYs/edit?usp=sharing MSP430 Interrupts, Clocks, Timers, and PWM]
**[https://youtu.be/cPlxv9R7tZQ Introduction to MSP430 Interrupts]
**[https://youtu.be/KtVDqvW0Vfw Timers on the MSP430]
*[https://docs.google.com/presentation/d/1nuK6rDJ8Yly6MJs1o4boKR41_S37C-Q1Q6u7JHu2fmk/edit?usp=sharing Serial Communications]
*[https://docs.google.com/presentation/d/1nuK6rDJ8Yly6MJs1o4boKR41_S37C-Q1Q6u7JHu2fmk/edit?usp=sharing Serial Communications]
**[https://youtu.be/2sObuUtpIq4 Serial Communications Video]
*[https://docs.google.com/presentation/d/1O4cqBvtdO7lM5ywjRPBVJ7o4X1axtpwTqYkL9-y4UCA/edit?usp=sharing Using Flash]
*[https://docs.google.com/presentation/d/1O4cqBvtdO7lM5ywjRPBVJ7o4X1axtpwTqYkL9-y4UCA/edit?usp=sharing Using Flash]
====Quiz Answers====
*[[Quiz 6.1]]
*[[Quiz 6.2]]
*[[Quiz 6.3]]
*[[Quiz 6.4]]

===Materials for the MSP430 Family from Other Courses===
===Materials for the MSP430 Family from Other Courses===
*[http://www.ece.utep.edu/courses/web3376/Notes.html Notes from the University of Texas at El Paso (UTEP)] The EE3376 class.
*[http://www.ece.utep.edu/courses/web3376/Notes.html Notes from the University of Texas at El Paso (UTEP)] The EE3376 class.
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**[https://github.com/adamcohen/msp430-ccs-examples Example Code from Davies' book ported to Code Composer Studio]
**[https://github.com/adamcohen/msp430-ccs-examples Example Code from Davies' book ported to Code Composer Studio]
*[http://www.ti.com/lit/an/slaa334a/slaa334a.pdf How Flash works, and how you can write to it from your program.]
*[http://www.ti.com/lit/an/slaa334a/slaa334a.pdf How Flash works, and how you can write to it from your program.]
*[http://wiki.tiprocessors.com/index.php/MSP430_LaunchPad_Tutorials MSP430 LaunchPad Tutorials]
*[http://teaching.idallen.com/dat2343/10f/notes/040_overflow.txt The carry (C) and overflow (V) flags explained.]


===Project Related Links and Notes===
===Project Related Links and Notes===


====2015 Robot Information====
====2015 Robot and 2016 Car Information====
*[[Building Tips]]
*[[Building Tips]]
*[https://www.creatroninc.com/upload/L9110%20Datasheet.pdf L9110 H Bridge Data Sheet]
*[https://www.creatroninc.com/upload/L9110%20Datasheet.pdf L9110 H Bridge Data Sheet]
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*[http://wiki.pinguino.cc/index.php/SPP_Bluetooth_Modules#HC-05.2C_HC-06_Hardware Bluetooth UART HC-05 and HC-06]
*[http://wiki.pinguino.cc/index.php/SPP_Bluetooth_Modules#HC-05.2C_HC-06_Hardware Bluetooth UART HC-05 and HC-06]
**[http://www.tec.reutlingen-university.de/uploads/media/DatenblattHC-05_BT-Modul.pdf HC Bluetooth Manual]
**[http://www.tec.reutlingen-university.de/uploads/media/DatenblattHC-05_BT-Modul.pdf HC Bluetooth Manual]
**The bluetooth module for 2016 is a little different:
*** It uses the BK3231 IC and it's data sheet is [https://fccid.io/document.php?id=2672934 available from the FCC here.]
*** It is the SPP-C module described [http://www.martyncurrey.com/bluetooth-modules/ on this page.][[File:Bluetooth Carrier.jpg|600px]]
*** Solder five pins on one side and three on the other to get your bluetooth module onto your carrier board.
***[http://www.suptronics.com/downloads/BC04-B_AT%20Command.pdf These] are the AT commands which if you use them to configure your bluetooth have to be issued from the wired side (not from the phone). You can use them to change the name with "AT+NAME<Name you want to use instead of BT-04A>" where I found for me sending a line feed after this was needed. The name you want to call you bluetooth device is just typed after the AT+NAME, like AT+NAMERob if I want to call it Rob. I should note that I had some difficulty with this. I don't seem to know how to terminate the name, but this may get you started. It is not handy to have your bluetooth device named the same thing as everyone elses when you are in the same room trying to pair with it.
*** The baud rate to start with on these boards is 9600, 8N1. You need to send carriage return and line-feed both to get a response from the board. Remember that TX on one side is connected to RX on the other. The module identifies itself as BT04-A, and the PIN is 1234 over bluetooth.

**[[C example of using the USCI as a 9600 baud UART to communicate with the HC-06 bluetooth module for the MSP430F5529]]. To test this app, do not use Blueberry. The professor used [https://f-droid.org/wiki/page/ru.sash0k.bluetooth_terminal Bluetooth terminal] on f-droid. The source code is available at [https://github.com/Sash0k/bluetooth-spp-terminal github.]
**[[C example of using the USCI as a 9600 baud UART to communicate with the HC-06 bluetooth module for the MSP430F5529]]. To test this app, do not use Blueberry. The professor used [https://f-droid.org/wiki/page/ru.sash0k.bluetooth_terminal Bluetooth terminal] on f-droid. The source code is available at [https://github.com/Sash0k/bluetooth-spp-terminal github.]
**[https://en.wikipedia.org/wiki/Newline Newline Characters, CR or CR+LF?] It is important to know what the computer you are communicating with uses. Linux and Unix use LF (\n or 0x0a ). Windows uses CR+LF (\r \n or 0x0d0a). Others use different combinations!
**[https://en.wikipedia.org/wiki/Newline Newline Characters, CR or CR+LF?] It is important to know what the computer you are communicating with uses. Linux and Unix use LF (\n or 0x0a ). Windows uses CR+LF (\r \n or 0x0d0a). Others use different combinations!
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**[http://sigrok.org/wiki/Downloads Sigrok software downloads] are here. It runs on Linux, Windows, OS X and even Android, as well as FreeBSD and a bunch of other operating systems.
**[http://sigrok.org/wiki/Downloads Sigrok software downloads] are here. It runs on Linux, Windows, OS X and even Android, as well as FreeBSD and a bunch of other operating systems.
**[http://sigrok.org/wiki/Building Here are instructions to build from source.]
**[http://sigrok.org/wiki/Building Here are instructions to build from source.]
===Digital Logic Links===
*[http://www.falstad.com/circuit/e-nandff.html Set Reset Latch Animation]
*[http://www.falstad.com/circuit/e-masterslaveff.html Master-Slave D Flip Flop Animation]


==ARM7 Links==
==ARM7 Links==
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==Other Miscellaneous Interesting Reading==
==Other Miscellaneous Interesting Reading==
*[http://kysmykseka.net/koti/wizardry/Programming/Misc/Charles%20Petzold%20-%20Code%20-%20The%20Hidden%20Language%20of%20Computer%20Hardware%20and%20Software.pdf Code: The Hidden Language of Computer Hardware and Software by Charles Petzold] This is a good read about the history of the subject which gives the reader a good understanding of the subject.
*[http://kysmykseka.net/koti/wizardry/Programming/Misc/Charles%20Petzold%20-%20Code%20-%20The%20Hidden%20Language%20of%20Computer%20Hardware%20and%20Software.pdf Code: The Hidden Language of Computer Hardware and Software by Charles Petzold] This is a good read about the history of the subject which gives the reader a good understanding of the subject.
*[http://www.ee.surrey.ac.uk/Teaching/Unix/index.html Unix and Linux Command Line Tutorial]
*[http://linuxcommand.org/lc3_learning_the_shell.php Another Linux/Unix Shell Tutorial]

Latest revision as of 17:31, 13 December 2016


TI MSP430 Links

Toolchain

There are various toolchains (build tools) for the MSP430. TI provides the Code Composer Studio (both desktop, and browser based) toolchain. At this point, the desktop version is much more powerful than the browser based version, and you need it for this class. There are also some other toolchains that cost something, but I prefer Code Composer Studio.

Code Composer Studio

  • CCS will work with Linux and Windows, and now a beta is available for OS X.
    • To install CCSV6.1 on Ubuntu 15.04, you need to
$ unset JAVA_TOOL_OPTIONS 

before running the installer. There is some more information for Linux installs here. I also found out that installing Grace from the App Center makes the App Center blank thereafter, unless you reinstall CCSV6.1.

MSP430 Assembly using the TI Assembler
MSP430 TI C Compiler
  • MSP430 Optimizing C/C++ Compiler (See Section 6.5 and following for how to mix C/C++ and Assembly. It is really best to read the entire chapter though, as it is all pertinent to mixing C and Assembly. It will also help you if you want to program in C, as it tells how the C compiler uses the memory, the stack, the registers, etc., and once you understand the processor as you learn to do when you learn its assembly language, it is very interesting to see how that all works in C.)
    • Here is how to use printf() statements with Code Composer Studio.
    • TI C Examples Workspace This is a CCS workspace with all the C examples from TI for the MSP430F5529. It is useful to work around a bug in MSPWare that broke the feature that you could use in the Examples to create an instance of an example in your workspace. You can import projects from this workspace into your regular one, so you don't have to switch workspaces to see the examples. You can read the descriptions for these examples in the Examples feature of Code Composer Studio. You just can't import them into your workspace until TI fixes the bug. When they do, this will no longer be useful. Soon I hope!
IAR Tools

IAR also makes a toolchain. It is not free, but you will sometimes find code that was developed for it, and it is slightly different from that developed for Code Composer Studio using either the TI or GCC compilers/assemblers.

GCC Compiler

You may use the GCC compiler from within Code Composer Studio. It is not limited in the size of the code that it can compile. There are some differences between it and the TI compiler. I find that the TI compiler usually works more easily, with TI examples especially.

To make your program using interrupt service routines compile with either the TI or the GCC compiler, you need some #ifdef's like this:

#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=USCI_A0_VECTOR
__interrupt void USCI_A0_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(USCI_A0_VECTOR))) USCI_A0_ISR (void)
#else
#error Compiler not supported!
#endif 

Note that you need to substitute the appropriate ISR vectors in your code.

C Language References

Translating Embedded Code Between Assembly and C

When reading C code to understand what you wish to do in Assembly, or vice versa, it is handy to understand some common statements you see in C. Listed below are the most commonly seen ones.

 P1DIR |= #BIT0;  //is the same as bis.b #BIT0, &P1DIR
 P1DIR &= ~#BIT0;  //is the same as bic.b #BIT0, &P1DIR
 P1DIR ^= #BIT0;   //is the same as xor.b #BIT0, &P1DIR

MSP430F5529 Specific Data

Launchpad Evaluation Board Data

EXP430PinOut.png

Code Examples from Class

Slides and Videos 2015 and 2016

These slides were modified from Mark Clement's work at BYU. The slides are the major categories, and the videos explaining the slides are the sub-categories.

Quiz Answers

Materials for the MSP430 Family from Other Courses

Project Related Links and Notes

2015 Robot and 2016 Car Information

  • Building Tips
  • L9110 H Bridge Data Sheet
  • Bluetooth UART HC-05 and HC-06
    • HC Bluetooth Manual
    • The bluetooth module for 2016 is a little different:
      • It uses the BK3231 IC and it's data sheet is available from the FCC here.
      • It is the SPP-C module described on this page.Bluetooth Carrier.jpg
      • Solder five pins on one side and three on the other to get your bluetooth module onto your carrier board.
      • These are the AT commands which if you use them to configure your bluetooth have to be issued from the wired side (not from the phone). You can use them to change the name with "AT+NAME<Name you want to use instead of BT-04A>" where I found for me sending a line feed after this was needed. The name you want to call you bluetooth device is just typed after the AT+NAME, like AT+NAMERob if I want to call it Rob. I should note that I had some difficulty with this. I don't seem to know how to terminate the name, but this may get you started. It is not handy to have your bluetooth device named the same thing as everyone elses when you are in the same room trying to pair with it.
      • The baud rate to start with on these boards is 9600, 8N1. You need to send carriage return and line-feed both to get a response from the board. Remember that TX on one side is connected to RX on the other. The module identifies itself as BT04-A, and the PIN is 1234 over bluetooth.
  • Blueberry Android Bluetooth Remote Control App
  • HY301-07A Photo Interrupter Datasheet From the datasheet, we will choose a forward current on the LED to be 5 mA because we don't want to waste batteries, and that is the lowest the data sheet shows it working. That leads us to a forward voltage across the diode of 1.3 volts. If we run things on 3.3 volts that gives us a voltage drop of 3.3-1.3=2.0 volts. Ohms law says a resistor of R=V/I=2volts/5mA = 400 ohms. We will pick 390 ohms since it is an available 5% value. For the phototransistor, we see that the current for the forward diode current we picked should be about 0.2 mA. If we want the output to drop to 0.5 volts with the LED on, that leaves 3.3 volts - 0.5 volts = 2.8 volts across the collector resistor, so using Ohm's Law again, we need a collector resistor of 2.8 volts/0.2mA = 14 Kohms, so we will pick 15 Kohms because it is a standard value. The 15 Kohm resistors are optional as you can use the built in ones on the MSP430 controlled by PREN.
  • I count 20 holes, on the encoder wheels. This gives 20 periods per revolution. The wheel diameter is about 0.066 meters, so the radius is 0.033 meters. This gives about 0.21 meters per revolution. It seems a pretty fast speed is about 1 meter per second, which means that we have about 5 revolutions per second, or 100 cycles per second, or about 0.01 seconds per period at high speed.
  • Applying Feedback makes the robot easier to control. This web page gives a somewhat helpful primer on that process.

CC3100 SimpleLink Wi-Fi Family

2014 Robot Information

  • HSR-1425CR Continuous Rotation Servo Datasheet
  • Schematics These are rather crude schematics of the robot circuit board. There are two cuts and jumps that are not reflected, at least on the last one. The effect is to change the photo transistors from a common emitter to a common collector configuration. You can see the change scratched in just below the word Fairchild on the hand drawn schematic. Basically the resistor and photo transistor are reversed in order. I believe both photo transistors are swapped to common collector configuration.

Logic Analyzer Information

These logic analyzers are clones of the original Saleae analyzer. They have software compatible with this analyzer, but they don't like you to use it.

Logic Analyzer.png

Digital Logic Links

ARM7 Links

Raspberry Pi

Depending on the version, your pi may use ARM6 or ARM7. There is actually quite a lot of good assembly language information for programming the raspberry pi.

Other Miscellaneous Interesting Reading